Commit ddf56bc7 authored by Nishanth Menon's avatar Nishanth Menon Committed by Tom Rini

drivers: Introduce a simplified remoteproc framework

Many System on Chip(SoC) solutions are complex with multiple processors
on the same die dedicated to either general purpose of specialized
functions. Many examples do exist in today's SoCs from various vendors.
Typical examples are micro controllers such as an ARM M3/M0 doing a
offload of specific function such as event integration or power
management or controlling camera etc.

Traditionally, the responsibility of loading up such a processor with a
firmware and communication has been with a High Level Operating
System(HLOS) such as Linux. However, there exists classes of products
where Linux would need to expect services from such a processor or the
delay of Linux and operating system being able to load up such a
firmware is unacceptable.

To address these needs, we need some minimal capability to load such a
system and ensure it is started prior to an Operating System(Linux or
any other) is started up.

NOTE: This is NOT meant to be a solve-all solution, instead, it tries to
address certain class of SoCs and products that need such a solution.

A very simple model is introduced here as part of the initial support
that supports microcontrollers with internal memory (no MMU, no
execution from external memory, or specific image format needs). This
basic framework can then (hopefully) be extensible to other complex SoC
processor support as need be.
Reviewed-by: 's avatarSimon Glass <sjg@chromium.org>
Signed-off-by: 's avatarNishanth Menon <nm@ti.com>
Acked-by: 's avatarSimon Glass <sjg@chromium.org>
parent 0da3f2e6
......@@ -350,6 +350,11 @@ config CMD_FPGA
help
FPGA support.
config CMD_REMOTEPROC
bool "remoteproc"
depends on REMOTEPROC
help
Support for Remote Processor control
endmenu
......
......@@ -154,6 +154,7 @@ obj-$(CONFIG_CMD_PXE) += cmd_pxe.o
obj-$(CONFIG_CMD_READ) += cmd_read.o
obj-$(CONFIG_CMD_REGINFO) += cmd_reginfo.o
obj-$(CONFIG_CMD_REISER) += cmd_reiser.o
obj-$(CONFIG_CMD_REMOTEPROC) += cmd_remoteproc.o
obj-$(CONFIG_SANDBOX) += cmd_host.o
obj-$(CONFIG_CMD_SATA) += cmd_sata.o
obj-$(CONFIG_CMD_SF) += cmd_sf.o
......
/*
* (C) Copyright 2015
* Texas Instruments Incorporated - http://www.ti.com/
* SPDX-License-Identifier: GPL-2.0+
*/
#include <common.h>
#include <command.h>
#include <dm.h>
#include <errno.h>
#include <malloc.h>
#include <remoteproc.h>
/**
* print_remoteproc_list() - print all the remote processor devices
*
* Return: 0 if no error, else returns appropriate error value.
*/
static int print_remoteproc_list(void)
{
struct udevice *dev;
struct uclass *uc;
int ret;
char *type;
ret = uclass_get(UCLASS_REMOTEPROC, &uc);
if (ret) {
printf("Cannot find Remote processor class\n");
return ret;
}
uclass_foreach_dev(dev, uc) {
struct dm_rproc_uclass_pdata *uc_pdata;
const struct dm_rproc_ops *ops = rproc_get_ops(dev);
uc_pdata = dev_get_uclass_platdata(dev);
switch (uc_pdata->mem_type) {
case RPROC_INTERNAL_MEMORY_MAPPED:
type = "internal memory mapped";
break;
default:
type = "unknown";
break;
}
printf("%d - Name:'%s' type:'%s' supports: %s%s%s%s%s%s\n",
dev->seq,
uc_pdata->name,
type,
ops->load ? "load " : "",
ops->start ? "start " : "",
ops->stop ? "stop " : "",
ops->reset ? "reset " : "",
ops->is_running ? "is_running " : "",
ops->ping ? "ping " : "");
}
return 0;
}
/**
* do_rproc_init() - do basic initialization
* @cmdtp: unused
* @flag: unused
* @argc: unused
* @argv: unused
*
* Return: 0 if no error, else returns appropriate error value.
*/
static int do_rproc_init(cmd_tbl_t *cmdtp, int flag, int argc,
char *const argv[])
{
if (rproc_is_initialized()) {
printf("\tRemote Processors are already initialized\n");
} else {
if (!rproc_init())
return 0;
printf("Few Remote Processors failed to be initalized\n");
}
return CMD_RET_FAILURE;
}
/**
* do_remoteproc_list() - print list of remote proc devices.
* @cmdtp: unused
* @flag: unused
* @argc: unused
* @argv: unused
*
* Return: 0 if no error, else returns appropriate error value.
*/
static int do_remoteproc_list(cmd_tbl_t *cmdtp, int flag, int argc,
char *const argv[])
{
if (!rproc_is_initialized()) {
printf("\t Remote Processors is not initialized\n");
return CMD_RET_USAGE;
}
if (print_remoteproc_list())
return CMD_RET_FAILURE;
return 0;
}
/**
* do_remoteproc_load() - Load a remote processor with binary image
* @cmdtp: unused
* @flag: unused
* @argc: argument count for the load function
* @argv: arguments for the load function
*
* Return: 0 if no error, else returns appropriate error value.
*/
static int do_remoteproc_load(cmd_tbl_t *cmdtp, int flag, int argc,
char *const argv[])
{
ulong addr, size;
int id, ret;
if (argc != 4)
return CMD_RET_USAGE;
id = (int)simple_strtoul(argv[1], NULL, 3);
addr = simple_strtoul(argv[2], NULL, 16);
size = simple_strtoul(argv[3], NULL, 16);
if (!size) {
printf("\t Expect some size??\n");
return CMD_RET_USAGE;
}
if (!rproc_is_initialized()) {
printf("\tRemote Processors are not initialized\n");
return CMD_RET_USAGE;
}
ret = rproc_load(id, addr, size);
printf("Load Remote Processor %d with data@addr=0x%08lx %lu bytes:%s\n",
id, addr, size, ret ? " Failed!" : " Success!");
return ret ? CMD_RET_FAILURE : 0;
}
/**
* do_remoteproc_wrapper() - wrapper for various rproc commands
* @cmdtp: unused
* @flag: unused
* @argc: argument count for the rproc command
* @argv: arguments for the rproc command
*
* Most of the commands just take id as a parameter andinvoke various
* helper routines in remote processor core. by using a set of
* common checks, we can reduce the amount of code used for this.
*
* Return: 0 if no error, else returns appropriate error value.
*/
static int do_remoteproc_wrapper(cmd_tbl_t *cmdtp, int flag, int argc,
char *const argv[])
{
int id, ret = CMD_RET_USAGE;
if (argc != 2)
return CMD_RET_USAGE;
id = (int)simple_strtoul(argv[1], NULL, 3);
if (!rproc_is_initialized()) {
printf("\tRemote Processors are not initialized\n");
return CMD_RET_USAGE;
}
if (!strcmp(argv[0], "start")) {
ret = rproc_start(id);
} else if (!strcmp(argv[0], "stop")) {
ret = rproc_stop(id);
} else if (!strcmp(argv[0], "reset")) {
ret = rproc_reset(id);
} else if (!strcmp(argv[0], "is_running")) {
ret = rproc_is_running(id);
if (!ret) {
printf("Remote processor is Running\n");
} else if (ret == 1) {
printf("Remote processor is NOT Running\n");
ret = 0;
}
/* Else error.. */
} else if (!strcmp(argv[0], "ping")) {
ret = rproc_ping(id);
if (!ret) {
printf("Remote processor responds 'Pong'\n");
} else if (ret == 1) {
printf("No response from Remote processor\n");
ret = 0;
}
/* Else error.. */
}
if (ret < 0)
printf("Operation Failed with error (%d)\n", ret);
return ret ? CMD_RET_FAILURE : 0;
}
static cmd_tbl_t cmd_remoteproc_sub[] = {
U_BOOT_CMD_MKENT(init, 0, 1, do_rproc_init,
"Enumerate and initialize all processors", ""),
U_BOOT_CMD_MKENT(list, 0, 1, do_remoteproc_list,
"list remote processors", ""),
U_BOOT_CMD_MKENT(load, 5, 1, do_remoteproc_load,
"Load remote processor with provided image",
"<id> [addr] [size]\n"
"- id: ID of the remote processor(see 'list' cmd)\n"
"- addr: Address in memory of the image to loadup\n"
"- size: Size of the image to loadup\n"),
U_BOOT_CMD_MKENT(start, 1, 1, do_remoteproc_wrapper,
"Start remote processor",
"id - ID of the remote processor (see 'list' cmd)\n"),
U_BOOT_CMD_MKENT(stop, 1, 1, do_remoteproc_wrapper,
"Stop remote processor",
"id - ID of the remote processor (see 'list' cmd)\n"),
U_BOOT_CMD_MKENT(reset, 1, 1, do_remoteproc_wrapper,
"Reset remote processor",
"id - ID of the remote processor (see 'list' cmd)\n"),
U_BOOT_CMD_MKENT(is_running, 1, 1, do_remoteproc_wrapper,
"Check to see if remote processor is running\n",
"id - ID of the remote processor (see 'list' cmd)\n"),
U_BOOT_CMD_MKENT(ping, 1, 1, do_remoteproc_wrapper,
"Ping to communicate with remote processor\n",
"id - ID of the remote processor (see 'list' cmd)\n"),
};
/**
* do_remoteproc() - (replace: short desc)
* @cmdtp: unused
* @flag: unused
* @argc: argument count
* @argv: argument list
*
* parses up the command table to invoke the correct command.
*
* Return: 0 if no error, else returns appropriate error value.
*/
static int do_remoteproc(cmd_tbl_t *cmdtp, int flag, int argc,
char *const argv[])
{
cmd_tbl_t *c = NULL;
/* Strip off leading 'rproc' command argument */
argc--;
argv++;
if (argc)
c = find_cmd_tbl(argv[0], cmd_remoteproc_sub,
ARRAY_SIZE(cmd_remoteproc_sub));
if (c)
return c->cmd(cmdtp, flag, argc, argv);
return CMD_RET_USAGE;
}
U_BOOT_CMD(rproc, 5, 1, do_remoteproc,
"Control operation of remote processors in an SoC",
" [init|list|load|start|stop|reset|is_running|ping]\n"
"\t\t Where:\n"
"\t\t[addr] is a memory address\n"
"\t\t<id> is a numerical identifier for the remote processor\n"
"\t\t provided by 'list' command.\n"
"\t\tNote: Remote processors must be initalized prior to usage\n"
"\t\tNote: Services are dependent on the driver capability\n"
"\t\t 'list' command shows the capability of each device\n"
"\n\tSubcommands:\n"
"\tinit - Enumerate and initalize the remote processors\n"
"\tlist - list available remote processors\n"
"\tload <id> [addr] [size]- Load the remote processor with binary\n"
"\t image stored at address [addr] in memory\n"
"\tstart <id> - Start the remote processor(must be loaded)\n"
"\tstop <id> - Stop the remote processor\n"
"\treset <id> - Reset the remote processor\n"
"\tis_running <id> - Reports if the remote processor is running\n"
"\tping <id> - Ping the remote processor for communication\n");
Remote Processor uclass
Binding:
Remoteproc devices shall have compatible corresponding to thier
drivers. However the following generic properties will be supported
Optional Properties:
- remoteproc-name: a string, used if provided to describe the processor.
This must be unique in an operational system.
- remoteproc-internal-memory-mapped: a bool, indicates that the remote
processor has internal memory that it uses to execute code and store
data. Such a device is not expected to have a MMU. If no type property
is provided, the device is assumed to map to such a model.
#
# (C) Copyright 2015
# Texas Instruments Incorporated - http://www.ti.com/
# SPDX-License-Identifier: GPL-2.0+
#
Remote Processor Framework
==========================
TOC:
1. Introduction
2. How does it work - The driver
3. Describing the device using platform data
4. Describing the device using device tree
1. Introduction
===============
This is an introduction to driver-model for Remote Processors found
on various System on Chip(SoCs). The term remote processor is used to
indicate that this is not the processor on which U-Boot is operating
on, instead is yet another processing entity that may be controlled by
the processor on which we are functional.
The simplified model depends on a single UCLASS - UCLASS_REMOTEPROC
UCLASS_REMOTEPROC:
- drivers/remoteproc/rproc-uclass.c
- include/remoteproc.h
Commands:
- common/cmd_remoteproc.c
Configuration:
CONFIG_REMOTEPROC is selected by drivers as needed
CONFIG_CMD_REMOTEPROC for the commands if required.
2. How does it work - The driver
=================================
Overall, the driver statemachine transitions are typically as follows:
(entry)
+-------+
+---+ init |
| | | <---------------------+
| +-------+ |
| |
| |
| +--------+ |
Load| | reset | |
| | | <----------+ |
| +--------+ | |
| |Load | |
| | | |
| +----v----+ reset | |
+-> | | (opt) | |
| Loaded +-----------+ |
| | |
+----+----+ |
| Start |
+---v-----+ (opt) |
+->| Running | Stop |
Ping +- | +--------------------+
(opt) +---------+
(is_running does not change state)
opt: Optional state transition implemented by driver.
NOTE: It depends on the remote processor as to the exact behavior
of the statemachine, remoteproc core does not intent to implement
statemachine logic. Certain processors may allow start/stop without
reloading the image in the middle, certain other processors may only
allow us to start the processor(image from a EEPROM/OTP) etc.
It is hence the responsibility of the driver to handle the requisite
state transitions of the device as necessary.
Basic design assumptions:
Remote processor can operate on a certain firmware that maybe loaded
and released from reset.
The driver follows a standard UCLASS DM.
in the bare minimum form:
static const struct dm_rproc_ops sandbox_testproc_ops = {
.load = sandbox_testproc_load,
.start = sandbox_testproc_start,
};
static const struct udevice_id sandbox_ids[] = {
{.compatible = "sandbox,test-processor"},
{}
};
U_BOOT_DRIVER(sandbox_testproc) = {
.name = "sandbox_test_proc",
.of_match = sandbox_ids,
.id = UCLASS_REMOTEPROC,
.ops = &sandbox_testproc_ops,
.probe = sandbox_testproc_probe,
};
This allows for the device to be probed as part of the "init" command
or invocation of 'rproc_init()' function as the system dependencies define.
The driver is expected to maintain it's own statemachine which is
appropriate for the device it maintains. It must, at the very least
provide a load and start function. We assume here that the device
needs to be loaded and started, else, there is no real purpose of
using the remoteproc framework.
3. Describing the device using platform data
============================================
*IMPORTANT* NOTE: THIS SUPPORT IS NOT MEANT FOR USE WITH NEWER PLATFORM
SUPPORT. THIS IS ONLY FOR LEGACY DEVICES. THIS MODE OF INITIALIZATION
*WILL* BE EVENTUALLY REMOVED ONCE ALL NECESSARY PLATFORMS HAVE MOVED
TO DM/FDT.
Considering that many platforms are yet to move to device-tree model,
a simplified definition of a device is as follows:
struct dm_rproc_uclass_pdata proc_3_test = {
.name = "proc_3_legacy",
.mem_type = RPROC_INTERNAL_MEMORY_MAPPED,
.driver_plat_data = &mydriver_data;
};
U_BOOT_DEVICE(proc_3_demo) = {
.name = "sandbox_test_proc",
.platdata = &proc_3_test,
};
There can be additional data that may be desired depending on the
remoteproc driver specific needs (for example: SoC integration
details such as clock handle or something similar). See appropriate
documentation for specific remoteproc driver for further details.
These are passed via driver_plat_data.
3. Describing the device using device tree
==========================================
/ {
...
aliases {
...
remoteproc0 = &rproc_1;
remoteproc1 = &rproc_2;
};
...
rproc_1: rproc@1 {
compatible = "sandbox,test-processor";
remoteproc-name = "remoteproc-test-dev1";
};
rproc_2: rproc@2 {
compatible = "sandbox,test-processor";
internal-memory-mapped;
remoteproc-name = "remoteproc-test-dev2";
};
...
};
aliases usage is optional, but it is usually recommended to ensure the
users have a consistent usage model for a platform.
the compatible string used here is specific to the remoteproc driver involved.
......@@ -46,6 +46,8 @@ source "drivers/power/Kconfig"
source "drivers/ram/Kconfig"
source "drivers/remoteproc/Kconfig"
source "drivers/rtc/Kconfig"
source "drivers/serial/Kconfig"
......
......@@ -59,6 +59,7 @@ obj-y += pwm/
obj-y += input/
# SOC specific infrastructure drivers.
obj-y += soc/
obj-$(CONFIG_REMOTEPROC) += remoteproc/
obj-y += thermal/
endif
#
# (C) Copyright 2015
# Texas Instruments Incorporated - http://www.ti.com/
# SPDX-License-Identifier: GPL-2.0+
#
menu "Remote Processor drivers"
# REMOTEPROC gets selected by drivers as needed
# All users should depend on DM
config REMOTEPROC
bool
depends on DM
endmenu
#
# (C) Copyright 2015
# Texas Instruments Incorporated - http://www.ti.com/
# SPDX-License-Identifier: GPL-2.0+
#
obj-$(CONFIG_REMOTEPROC) += rproc-uclass.o
This diff is collapsed.
......@@ -49,6 +49,7 @@ enum uclass_id {
UCLASS_PMIC, /* PMIC I/O device */
UCLASS_REGULATOR, /* Regulator device */
UCLASS_RESET, /* Reset device */
UCLASS_REMOTEPROC, /* Remote Processor device */
UCLASS_RTC, /* Real time clock device */
UCLASS_SERIAL, /* Serial UART */
UCLASS_SPI, /* SPI bus */
......
/*
* (C) Copyright 2015
* Texas Instruments Incorporated - http://www.ti.com/
* SPDX-License-Identifier: GPL-2.0+
*/
#ifndef _RPROC_H_
#define _RPROC_H_
/*
* Note: The platform data support is not meant for use with newer
* platforms. This is meant only for legacy devices. This mode of
* initialization *will* be eventually removed once all necessary
* platforms have moved to dm/fdt.
*/
#include <dm/platdata.h> /* For platform data support - non dt world */
/**
* enum rproc_mem_type - What type of memory model does the rproc use
* @RPROC_INTERNAL_MEMORY_MAPPED: Remote processor uses own memory and is memory
* mapped to the host processor over an address range.
*
* Please note that this is an enumeration of memory model of different types
* of remote processors. Few of the remote processors do have own internal
* memories, while others use external memory for instruction and data.
*/
enum rproc_mem_type {
RPROC_INTERNAL_MEMORY_MAPPED = 0,
};
/**
* struct dm_rproc_uclass_pdata - platform data for a CPU
* @name: Platform-specific way of naming the Remote proc
* @mem_type: one of 'enum rproc_mem_type'
* @driver_plat_data: driver specific platform data that may be needed.
*
* This can be accessed with dev_get_uclass_platdata() for any UCLASS_REMOTEPROC
* device.
*
*/
struct dm_rproc_uclass_pdata {
const char *name;
enum rproc_mem_type mem_type;
void *driver_plat_data;
};
/**
* struct dm_rproc_ops - Operations that are provided by remote proc driver
* @init: Initialize the remoteproc device invoked after probe (optional)
* Return 0 on success, -ve error on fail
* @load: Load the remoteproc device using data provided(mandatory)
* This takes the following additional arguments.
* addr- Address of the binary image to be loaded
* size- Size of the binary image to be loaded
* Return 0 on success, -ve error on fail
* @start: Start the remoteproc device (mandatory)
* Return 0 on success, -ve error on fail
* @stop: Stop the remoteproc device (optional)
* Return 0 on success, -ve error on fail
* @reset: Reset the remote proc device (optional)
* Return 0 on success, -ve error on fail
* @is_running: Check if the remote processor is running(optional)
* Return 0 on success, 1 if not running, -ve on others errors
* @ping: Ping the remote device for basic communication check(optional)
* Return 0 on success, 1 if not responding, -ve on other errors
*/
struct dm_rproc_ops {
int (*init)(struct udevice *dev);
int (*load)(struct udevice *dev, ulong addr, ulong size);
int (*start)(struct udevice *dev);
int (*stop)(struct udevice *dev);
int (*reset)(struct udevice *dev);
int (*is_running)(struct udevice *dev);
int (*ping)(struct udevice *dev);
};
/* Accessor */
#define rproc_get_ops(dev) ((struct dm_rproc_ops *)(dev)->driver->ops)
#ifdef CONFIG_REMOTEPROC
/**
* rproc_init() - Initialize all bound remote proc devices
*
* Return: 0 if all ok, else appropriate error value.
*/
int rproc_init(void);
/**
* rproc_is_initialized() - check to see if remoteproc devices are initialized
*
* Return: 0 if all devices are initialized, else appropriate error value.
*/
bool rproc_is_initialized(void);
/**
* rproc_load() - load binary to a remote processor
* @id: id of the remote processor
* @addr: address in memory where the binary image is located
* @size: size of the binary image
*
* Return: 0 if all ok, else appropriate error value.
*/
int rproc_load(int id, ulong addr, ulong size);
/**
* rproc_start() - Start a remote processor
* @id: id of the remote processor
*
* Return: 0 if all ok, else appropriate error value.
*/
int rproc_start(int id);
/**
* rproc_stop() - Stop a remote processor
* @id: id of the remote processor
*
* Return: 0 if all ok, else appropriate error value.
*/
int rproc_stop(int id);
/**
* rproc_reset() - reset a remote processor
* @id: id of the remote processor
*
* Return: 0 if all ok, else appropriate error value.
*/
int rproc_reset(int id);
/**
* rproc_ping() - ping a remote processor to check if it can communicate
* @id: id of the remote processor
*
* NOTE: this might need communication path available, which is not implemented
* as part of remoteproc framework - hook on to appropriate bus architecture to
* do the same
*
* Return: 0 if all ok, else appropriate error value.
*/
int rproc_ping(int id);
/**
* rproc_is_running() - check to see if remote processor is running
* @id: id of the remote processor
*
* NOTE: this may not involve actual communication capability of the remote
* processor, but just ensures that it is out of reset and executing code.
*
* Return: 0 if all ok, else appropriate error value.
*/
int rproc_is_running(int id);
#else
static inline int rproc_init(void) { return -ENOSYS; }
static inline bool rproc_is_initialized(void) { return false; }
static inline int rproc_load(int id, ulong addr, ulong size) { return -ENOSYS; }
static inline int rproc_start(int id) { return -ENOSYS; }
static inline int rproc_stop(int id) { return -ENOSYS; }
static inline int rproc_reset(int id) { return -ENOSYS; }
static inline int rproc_ping(int id) { return -ENOSYS; }
static inline int rproc_is_running(int id) { return -ENOSYS; }
#endif
#endif /* _RPROC_H_ */
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